Leila Bridgeman

Journal Article International Journal of Robust and Nonlinear Control · September 10, 2024 Imitation learning enables synthesis of controllers for systems with complex objectives and uncertain plant models. However, ensuring an imitation learned controller is stable requires copious amounts of data and/or a known plant model. In this paper, we e ... Full text Cite

Systematic, Lyapunov-Based, Safe and Stabilizing Controller Synthesis for Constrained Nonlinear Systems

Journal Article IEEE Transactions on Automatic Control · May 1, 2024 A controller synthesis method for state- and input-constrained nonlinear systems is presented that seeks continuous piecewise affine (CPA) Lyapunov-like functions and controllers simultaneously. Nonconvex optimization problems are formulated on triangulate ... Full text Cite

Structured, Reduced-Order H2-Conic Control

Journal Article IEEE Transactions on Automatic Control · February 1, 2024 Practical controllers for large-scale systems must be low-order and sparsely communicating, as well as high-performing and robust to uncertainty. H2-conic design addresses the latter requirements where passivity and H∞ methods are inapplicable, but it has ... Full text Cite

Switched systems with transient unsustainable modes: Stability and feasibility

Journal Article International Journal of Robust and Nonlinear Control · January 1, 2023 Externally switched systems have unique characteristics that make it is especially challenging to ensure their stability and feasibility. These challenges are exacerbated when the system contains modes with uncontrollable dynamics, tight input constraints, ... Full text Cite

Computationally Tractable Stability Criteria for Exogenously Switched Model Predictive Control

Journal Article IEEE Control Systems Letters · November 1, 2021 Although state-based switching is well-studied in the context of model predictive control (MPC), the theory for exogenous switches is less advanced. External switching affects many systems and is of growing importance due to the increasing use of networked ... Full text Cite

Constraint Enforcement via Tube-Based MPC Exploiting Switching Restrictions

Journal Article IEEE Control Systems Letters · November 1, 2021 Dwell-time restrictions are critical to overcoming infeasibility caused by arbitrary switches in constrained time-dependent switched systems, especially when the system equilibrium is mode dependent. However, existing approaches to enforce constraints are ... Full text Cite

Sparsity Promoting H-Conic Control

Journal Article IEEE Control Systems Letters · October 1, 2021 A controller is designed through an alternating direction method of multipliers (ADMM) algorithm to maximize sparsity while providing similar closed-loop $\mathscr {H}_{2}$ performance to an optimal 'target' controller and imposing conic bounds that ensure ... Full text Cite

Conic Sector Based Stability Criteria for Time-Delay Systems

Conference Proceedings of the IEEE Conference on Decision and Control · January 1, 2021 A novel way to establish conic bounds for stable linear time-invariant (LTI) systems with time-varying state delays is proposed. Two linear matrix inequality (LMI) conditions are provided. Alone, they can be used as analysis tools, determining conic bounds ... Full text Cite

Iterative H2-conic controller synthesis

Journal Article International Journal of Robust and Nonlinear Control · July 25, 2019 This paper proposes a method to synthesize controllers that minimize an upper bound on the closed-loop H2-norm while imposing desired controller conic bounds. An initial conic controller is synthesized and iteratively improved. Conic sectors can be used to ... Full text Cite

Necessary and sufficient conditions for constraint satisfaction in switched systems using switch‐robust control invariant sets

Journal Article International Journal of Robust and Nonlinear Control · June 2019 SummaryThis paper studies the control of constrained systems whose dynamics and constraints switch between a finite set of modes over time according to an exogenous input signal. We define a new type of control invariant se ... Full text Cite

Conic-Sector-Based Control in the Presence of Delay??This work was funded in part through the Natural Sciences and Engineering Research Council of Canada’s Postgraduate Scholarship and Discovery Grant programs.

Conference IFAC-PapersOnLine · 2015 Full text Cite

Leila Bridgeman

Selected Publications

Dissipative imitation learning for discrete dynamic output feedback control with sparse data sets

Systematic, Lyapunov-Based, Safe and Stabilizing Controller Synthesis for Constrained Nonlinear Systems

Structured, Reduced-Order H2-Conic Control

Switched systems with transient unsustainable modes: Stability and feasibility

Computationally Tractable Stability Criteria for Exogenously Switched Model Predictive Control

Constraint Enforcement via Tube-Based MPC Exploiting Switching Restrictions

Sparsity Promoting H-Conic Control

Conic Sector Based Stability Criteria for Time-Delay Systems

Iterative H2-conic controller synthesis

Necessary and sufficient conditions for constraint satisfaction in switched systems using switch‐robust control invariant sets

Norm- and Linear-Inequality-Constrained State Estimation: An LMI Approach

Conic Controller Synthesis that Minimizes an Upper Bound on the Closed-Loop $\mathcalH_2$-Norm

Constraint Satisfaction for Switched Linear Systems with Restricted Dwell-Time

Conic Bounds for Systems Subject to Delays

A Comparative Study of Input-Output Stability Results

The Extended Conic Sector Theorem

Stability and feasibility of MPC for switched linear systems with dwell-time constraints

Strictly positive real and conic system syntheses using observers

The minimum gain lemma

The exterior conic sector lemma

Conic-Sector-Based Control in the Presence of Delay??This work was funded in part through the Natural Sciences and Engineering Research Council of Canada’s Postgraduate Scholarship and Discovery Grant programs.

Conic-sector-based controller synthesis: Theory and experiments

The Minimum Gain Lemma

Conic-sector-based control to circumvent passivity violations

Saturated proportional derivative control of flexible-joint manipulators

Conic-Sector-based control to circumvent passivity violations

Stability and a posteriori error analysis of discontinuous Galerkin methods for linearized elasticity